How to apply or extend the $Q(\lambda)$ algorithm to semi-MDPs?
If you really just want an SMDP-version of the algorithm, which only needs to be capable of operating on the "high-level" time scale of macro-actions, you can relatively safely take the original pseudocode of whatever MDP-based algorithm you like, replace every occurrence of "action" with "macro-action", and you're pretty much done.

The only caveat I can think of in the case of $Q(\lambda)$ is that the "optimal" value for $\lambda$ is probably somewhat related to the amount of time that expires... so intuitively I'd expect it to be best if the value for $\lambda$ decreases as the amount of time expired during execution of the last macro-action increases. A constant $\lambda$ probably still works fine as well though.



If you actually want your algorithm to also be aware of lower-time-scale MDP underlying an SMDP, and not only treat macro-actions as "large actions" and be done with it... I'd recommend looking into the Options framework. There you get interesting ideas like intra-option updates, which may allow you to also perform learning whilst larger macro-actions (or options) are still in progress. 

Last time I looked there hasn't been a lot of work involving the combination of eligibility traces and options, but there has been some: Eligibility Traces for Options. This paper doesn't specifically apply the algorithm you mentioned ($Q(\lambda)$), but it does discuss a bunch of other -- much more recent, and likely better -- off-policy algorithms with eligibility traces.